Mechanical resonance suppression technique for inertial reference unit based on band-pass filter disturbance observer

Tianyu Wang; Weixiao Tuo; Xingfei Li; Mengjie He; Xiaoqing Gao

doi:10.1016/j.isatra.2024.10.011

Mechanical resonance suppression technique for inertial reference unit based on band-pass filter disturbance observer

ISA Trans. 2024 Dec:155:337-345. doi: 10.1016/j.isatra.2024.10.011. Epub 2024 Oct 22.

Authors

Tianyu Wang¹, Weixiao Tuo², Xingfei Li³, Mengjie He⁴, Xiaoqing Gao⁵

Affiliations

¹ State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072, China. Electronic address: [email protected].
² State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072, China; Taihu Laboratory of Deepsea Technological Science, Wuxi 214000, China. Electronic address: [email protected].
³ State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072, China; Taihu Laboratory of Deepsea Technological Science, Wuxi 214000, China. Electronic address: [email protected].
⁴ State Key Laboratory of Precision Measurement Technology and Instruments, Tianjin University, Tianjin 300072, China. Electronic address: [email protected].
⁵ School of Mechanical Engineering, Tianjin University of Commerce, Tianjin 300133, China. Electronic address: [email protected].

PMID: 39550326
DOI: 10.1016/j.isatra.2024.10.011

Abstract

Inertial reference unit (IRU) has been recognized as an effective method for photoelectric tracking and pointing system to suppress the disturbance. Its flexible support usually results in a low-frequency mechanical resonance within the bandwidth. Experimental identification indicates an obvious resonant peak at near 36.7 Hz with an amplitude of 26.6 dB. In this paper, disturbance observer based on band-pass filter (BPF-DOB) is combined with a notch filter to suppress the mechanical resonance. The asymmetry of the resonance peak and variation of the controlled object over the time are both addressed. Simulation and experimental results show that the stability accuracy of IRU system is improved to be 1.09 μrad, indicating an improvement of 9.9 % relative to the traditional method and high robustness for time-varying resonance.

Keywords: Band-pass filter; Disturbance observer; Double-T notch filter; Inertial reference unit; Mechanical resonance suppression.